Comparative analysis of a geometric and an adhesive righting strategy against toppling in inclined hexapedal locomotion

Walking kinematics of ants carrying food in the mandibles versus gaster

The locomotor behavior of an animal strongly depends on the distribution of its body mass. Whenever changes occur in this distribution, the displacement of the body center of mass (CoM) may lead to a loss of balance. Ants are an interesting biological model with which to investigate how an animal copes with such changes because, when they transport food, their CoM may be displaced from its usual position. We studied the ant Formica rufa, whose diet consists mainly of liquid food, stored in the abdomen, but also includes prey transported in the mandibles. We investigated the kinematics of locomotion of the same individuals while walking unloaded and while transporting food internally or externally. We found that the kinematics of locomotion slightly differed in the two types of transport. Ants transporting food in their mandibles adopted a more erect posture and tended to be more often in static instability than ants transporting food internally. In addition, the amplitude of the vertical oscillations of their CoM was higher, which led to a jerky locomotion. However, owing to their erect position, the position of their overall CoM was actually not different from that of unloaded ants. Finally, the mechanical work achieved by ants to rise and accelerate their CoM was smaller in ants transporting food internally than in ants transporting food externally or in unloaded ants. This suggests that the morphology of F. rufa could make the transport of food in the gaster more mechanically efficient than the transport of food in the mandibles.

Spines and Inclines: Bioinspired Spines on an Insect-Scale Robot Facilitate Locomotion on Rough and Inclined Terrain

To navigate complex terrains, insects use diverse tarsal structures (adhesive pads, claws, spines) to reliably attach to and locomote across substrates. This includes surfaces of variable roughness and inclination, which often require reliable transitions from ambulatory to scansorial locomotion. Using bioinspired physical models as a means for comparative research, our study specifically focused on the diversity of tarsal spines, which facilitate locomotion via frictional engagement and shear force generation. For spine designs, we took inspiration from ground beetles (family: Carabidae), which is a largely terrestrial group known for their quick locomotion. Evaluating four different species, we found that the hind legs host linear rows of rigid spines along the entire tarsus. By taking morphometric measurements of the spines, we highlighted parameters of interest (e.g., spine angle and aspect ratio) in order to test their relationship to shear forces sustained during terrain interactions. We systematically evaluated these parameters using spines cut from stainless steel shim attached to a small acrylic sled loaded with various weights. The sled was placed on 3D-printed models of rough terrain, randomly generated using fractal Brownian motion, while a motorized pulley system applied force to the spines. A force sensor measured the reaction force on the terrain, recording shear force before failure occurred. Initial shear tests highlighted the importance of spine angle, with bioinspired anisotropic designs producing higher shear forces. Using these data, we placed the best (50° angle) and worst (90° angle) performing spines on the legs of our insect-scale ambulatory robot physical model. We then tested the robot on various surfaces at 0°, 10°, and 20° inclines, seeing similar success with the more bioinspired spines.

Evidence for the evolution of eusociality in stem ants and a systematic revision of †Gerontoformica (Hymenoptera: Formicidae)

It is generally assumed that Cretaceous stem ants were obligately eusocial, because of the presence of wingless adult females, yet the available evidence is ambiguous. Here, we report the syninclusion of a pupa and adult of a stem ant species from Mid-Cretaceous amber. As brood are immobile, the pupa was likely to have been transported by an adult. Therefore, the fossil substantiates the hypothesis that wingless females were cooperators, thus these were true ‘workers’. Re-examination of all described Cretaceous ant species reveals that winged–wingless diphenism – hence a variable dispersal capacity – may have been ancestral to the total clade of the ants, and that highly specialized worker-specific phenotypes evolved in parallel between the stem and crown groups. The soft-tissue preservation of the fossil is exceptional, demonstrating the possibility of analysing the development of the internal anatomy in stem ants. Based on the highest-resolution µ-CT scans of stem ants to date, we describe †Gerontoformica sternorhabda sp. nov., redescribe †G. gracilis, redefine the species group classification of †Gerontoformica, and provide a key to the species of the genus. Our work clarifies the species boundaries of †Gerontoformica and renders fossils relevant to the discussion of eusocial evolution in a way that has heretofore been intractable.